Chief Delphi - Autonomous selector

I have an even more modified version of the autonomous selector code: this one is even simpler, and uses the exact same logic / has the same features. The only difference is that it is much cleaner. Here it is:

Note: this can be posted in user_routines.c or a separate file as we have.

Code:

// auton_selector()

//

// Select Autonomous Routine #

//

// - hundreds of autonomous plays can be chosen

// - use up/down switches defined by AUTON_UP etc in user_routines.h

// - shown on OI lcd

int auton_select = DEFAULT_AUTON_NUM;

void auton_selector(void)

{

        static char sw_up_prev;

        static char sw_dn_prev;



        // if up switch is pressed

        // increment autonomous routine number, 

        // if less than the max

        if(AUTON_UP == 1 && AUTON_UP != sw_up_prev && auton_select < MAX_AUTON_ROUTINES)

                auton_select++;



        // if pressed down switch,

        // decrement auton_select 

        // if higher than lowest routine number

        if(AUTON_DN == 1 && AUTON_DN != sw_dn_prev && auton_select > LOWEST_AUTON_NUM)

                auton_select--;



        sw_up_prev = AUTON_UP; // oneshot the trigger and top buttons

        sw_dn_prev = AUTON_DN;



        User_Mode_byte = auton_select;



        return;



}

Additionally, there is added commenting, which can be removed to make the code smaller, if thats what you want. It's only a few lines anyways.

Put the following into Default_Routine() in user_routines.c:

Code:

// handles the autonomous routine selection:

auton_selector();

& PLACE IT above the following line:

Code:

/*---------- ROBOT FEEDBACK LEDs

... etc.

The following must be copied into user_routines.h:

Code:



// Autonomous Selection Defines:

#define                AUTON_UP                                p4_sw_aux1                // autonomous select UP switch

#define                AUTON_DN                                p4_sw_aux2                // autonomous select DOWN switch

#define                MAX_AUTON_ROUTINES                10                                // max number of autonomous routines to scroll thru

#define                LOWEST_AUTON_NUM                1                                // lowest auton number (keep it at one (1) )

#define                DEFAULT_AUTON_NUM                1                                // the default autonomous routine



// Function Prototypes

void auton_selector(void);

Thats all! Have fun, and good luck.